Why are the particles floating around the objects instead of sticking to it?
The emitted particles (sprinkles) are attached to the emitter (donut) in their origin points. If the origin point is far from the object, the emitted particle will be far from its emitter. Check the origin point of the emitted object, Perhaps it's not adjusted to geometry. 

Select the emitted object (the sprinkle) > Right click > Set origin > Origin to geometry.